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A Cross-Domain Survey of Metrics for Modeling and Evaluating Collisions



Jeremy A. Marvel, Roger V. Bostelman


This paper provides a brief assessment of the metrics for measuring probability, degree, and severity of collisions as applied to autonomous and intelligent systems. Though not exhaustive, this survey evaluates the state-of-the-art of collision metrics, and assesses which are likely to aid in the establishment and support of autonomous system collision modeling. Metrics for both robot arms and mobile robot platforms are evaluated, as are the metrics for virtual models, and nonholonomic physical systems such as mobile robots, ground vehicles, aircraft, and naval vessels.
International Journal of Advanced Robotic Systems


Collision metrics, collision modeling, robot collisions, vehicular collisions


Marvel, J. and Bostelman, R. (2014), A Cross-Domain Survey of Metrics for Modeling and Evaluating Collisions, International Journal of Advanced Robotic Systems, [online], (Accessed April 14, 2024)
Created November 28, 2014, Updated February 19, 2017